WO1999005004A1 - Verfahren und anordnung zum ermitteln der inertiallage eines fahrzeugs - Google Patents
Verfahren und anordnung zum ermitteln der inertiallage eines fahrzeugs Download PDFInfo
- Publication number
- WO1999005004A1 WO1999005004A1 PCT/DE1998/000739 DE9800739W WO9905004A1 WO 1999005004 A1 WO1999005004 A1 WO 1999005004A1 DE 9800739 W DE9800739 W DE 9800739W WO 9905004 A1 WO9905004 A1 WO 9905004A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- acceleration
- position angle
- respect
- window
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R21/01332—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value by frequency or waveform analysis
- B60R21/01338—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value by frequency or waveform analysis using vector analysis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
- G01C9/02—Details
- G01C9/08—Means for compensating acceleration forces due to movement of instrument
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R2021/0002—Type of accident
- B60R2021/0018—Roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R2021/01306—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over monitoring vehicle inclination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01322—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value comprising variable thresholds, e.g. depending from other collision parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0132—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to vehicle motion parameters, e.g. to vehicle longitudinal or transversal deceleration or speed value
- B60R2021/01325—Vertical acceleration
Definitions
- the inertial position ie the starting position of the vehicle relative to the earth-fixed coordinate system must be known.
- Dynamic vehicle movements such as cornering or braking or accelerating, can interfere with the Impact determination of the inertial position.
- the invention is therefore based on the object of specifying a method and an arrangement for determining the inertial position of a vehicle, interference from dynamic vehicle movements being excluded as far as possible.
- Acceleration vector is formed and this amount is compared by threshold value decisions with a window which is limited by a threshold above and below the acceleration due to gravity.
- the current position angle of the vehicle in relation to it is compared by threshold value decisions with a window which is limited by a threshold above and below the acceleration due to gravity.
- the longitudinal axis and / or the current position angle with respect to its transverse axis is only determined if the magnitude of the acceleration vector lies within the window. However, if the magnitude of the acceleration vector lies outside the window, then a previously determined position angle with respect to the longitudinal axis and / or position angle with respect to the transverse axis is retained.
- the upper threshold of the window is approximately 10% larger and the lower threshold is approximately 10% lower than the acceleration due to gravity. According to one subclaim, disturbance variables in the determination of the inertial position can be suppressed even more effectively if the threshold value decisions are made with two acceleration vectors formed in succession. The fact that the current position angle recursively determined from a portion of an earlier
- Position angle and a portion of the position angle derived from the currently measured accelerations are advantageously suppressed short-term disturbances very well.
- Roll-over processes involve very rapid changes in the vehicle's position, which can best be determined by measuring the rotation rate.
- the position angles are then derived from the measured rotation rates by integration and on the basis of these position angles it is decided whether the vehicle will roll over or not. So that the integration of the measured rotation rates does not include non-critical dynamic vehicle movements for a rollover process and the resulting position angles do not lead to a wrong decision regarding a rollover process, it is expedient to integrate the rotation rates only with the inertial position angles derived according to the invention start. drawing
- FIG. 2 shows a functional diagram for deriving the inertial position of the vehicle and FIG. 3 shows a window function.
- Gravitational acceleration g acts in the direction of the z axis.
- a vehicle-fixed coordinate system x 1 , y 1 , z 'of a vehicle is drawn in FIG. 1, which has a certain inclination with respect to the earth-fixed coordinate system.
- x ' is the longitudinal axis
- y' the transverse axis
- Acceleration sensors are located in the vehicle, which measure the acceleration components of the vehicle in the direction of its longitudinal axis x ', its transverse axis y 1 and its vertical axis z 1 .
- the gravitational acceleration g is divided into the individual acceleration components ax ', ay 1 and az' according to the position of the coordinate system x 1 , y ', z 1 fixed to the vehicle. If one or more further acceleration components are now superimposed on the gravitational acceleration g as a result of dynamic vehicle movements, the actual position angles of the vehicle relative to the earth-fixed coordinate system can no longer be determined without error from the measured acceleration components ax ', ay 1 and az'.
- the position angle ⁇ x that is the angle of rotation of the vehicle-fixed coordinate system around the x- Axis of the earth-fixed coordinate system
- the position angle ⁇ y that is the angle of rotation of the vehicle-fixed coordinate system about the y-axis of the earth-fixed coordinate system
- the two position angles ⁇ x and ⁇ y can be derived from the acceleration components ax ', ay' and az 'and the acceleration due to gravity g by trigonometric functions. If the acceleration components ax ', ay', az 'are superposed by dynamic vehicle movements, this leads to incorrect position angles ⁇ x and ⁇ y of the vehicle.
- function block 1 the measured acceleration components ax ', ay' and az 'are subjected to filtering.
- the filtering serves to avoid small disturbances of the individual
- a suitable filter is e.g. a median filter or another digital filter with low-pass characteristics.
- each acceleration component ax ', ay', az ' is sampled over a certain period of time and all sampled values are divided into several data groups. The mean sample value is determined from each data group. Assuming that i have data tuple from everyone
- Acceleration component ax ', ay' and az ', the filtered acceleration components ax' (i), ay '(i) and az' (i) are present at the outputs of the filter 1.
- the filtered acceleration components ax '(i), ay' (i) and az '(i) become a resulting acceleration vector and the amount thereof
- this window function has an upper threshold co and a lower threshold cu.
- the upper threshold co is approximately 10% greater than the acceleration due to gravity g and the lower threshold cu is approximately 10% less than the acceleration due to gravity g.
- This window function thus determines whether the magnitude of the acceleration vector corresponds approximately to that of gravitational acceleration g. If the amount of the acceleration vector deviates from the gravitational acceleration g by a certain amount, which is predetermined by the thresholds co and cu, it must be assumed that the acceleration components ax 1 , ay 'and az' measured in the vehicle due to interference components dynamic vehicle movements are superimposed.
- the switching block 3 sets its output signal h to 1 if the magnitude of the acceleration vector lies within the window and sets its output signal h to 0 if the magnitude of the acceleration vector lies outside the window.
- Acceleration components ax 'and ay' derived the position angles ⁇ x and ⁇ y. Equation (3) shows the trigonometric relationship between the acceleration components ax 1 , ay ', az' measured in the vehicle and the acceleration components with respect to the earth-fixed coordinate system x, y, z. Since the acceleration due to gravity g only acts in the direction of the z-axis of the earth-fixed coordinate system, the acceleration ax and ay are in the direction of the x-axis and the y-axis of the earth-fixed coordinate system 0. Therefore:
- ⁇ x new cl ⁇ x old + c2 ⁇ x ⁇ 7 >
- a function block 5 which, by integrating measured rotation rates G) x ', ö) y', CO z 'about the longitudinal axis x', the transverse axis y 'and the vertical axis z 1 of the vehicle the rotation angles ⁇ x and ⁇ y of the vehicle around the earth-fixed x and y axis are determined. So that minor dynamic changes in the position of the vehicle are not included in the integration, the integration is started with the previously determined position angles ⁇ x and ⁇ y; because these position angles ⁇ x and ⁇ y are largely unaffected by disturbing dynamic vehicle movements (e.g. cornering, acceleration and braking).
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP11509147A JP2001501315A (ja) | 1997-07-25 | 1998-03-13 | 車両の慣性状態を求める方法および装置 |
EP98923999A EP0928258B1 (de) | 1997-07-25 | 1998-03-13 | Verfahren und anordnung zum ermitteln der inertiallage eines fahrzeugs |
US09/147,905 US6259999B1 (en) | 1997-07-25 | 1998-03-13 | Method and device for determining a vehicle inertial position |
DE59803186T DE59803186D1 (de) | 1997-07-25 | 1998-03-13 | Verfahren und anordnung zum ermitteln der inertiallage eines fahrzeugs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19732081A DE19732081A1 (de) | 1997-07-25 | 1997-07-25 | Verfahren und Anordnung zum Ermitteln der Inertiallage eines Fahrzeugs |
DE19732081.3 | 1997-07-25 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1999005004A1 true WO1999005004A1 (de) | 1999-02-04 |
Family
ID=7836907
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1998/000739 WO1999005004A1 (de) | 1997-07-25 | 1998-03-13 | Verfahren und anordnung zum ermitteln der inertiallage eines fahrzeugs |
Country Status (5)
Country | Link |
---|---|
US (1) | US6259999B1 (de) |
EP (1) | EP0928258B1 (de) |
JP (1) | JP2001501315A (de) |
DE (2) | DE19732081A1 (de) |
WO (1) | WO1999005004A1 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2357148A (en) * | 1999-12-07 | 2001-06-13 | Rover Group | Determining a spatial position using an array of single axis transducers |
EP1114755A2 (de) * | 2000-01-08 | 2001-07-11 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Kalibrierung eines Überrollsensors |
WO2003064216A1 (de) * | 2002-02-01 | 2003-08-07 | Robert Bosch Gmbh | Vorrichtung zur überrollerkennung |
Families Citing this family (22)
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US20080147280A1 (en) * | 1995-06-07 | 2008-06-19 | Automotive Technologies International, Inc. | Method and apparatus for sensing a rollover |
US6301536B1 (en) * | 1999-11-18 | 2001-10-09 | Visteon Global Technologies, Inc. | Method and apparatus for detecting a vehicle rollover |
DE10025260B4 (de) | 2000-05-22 | 2004-11-25 | Conti Temic Microelectronic Gmbh | Verfahren zur Detektion von Überrollvorgängen bei Kraftfahrzeugen mit Sicherheitseinrichtungen |
DE10153015A1 (de) * | 2001-10-26 | 2003-05-08 | Volkswagen Ag | Auslösevorrichtung zum Aktivieren einer Sicherheitseinrichtung eines Fahrzeugs und Verfahren zum Betrieb der Auslösevorrichtung |
US8768573B2 (en) | 2003-08-11 | 2014-07-01 | American Vehicular Sciences, LLC | Technique for ensuring safe travel of a vehicle or safety of an occupant therein |
DE10361281A1 (de) * | 2003-12-24 | 2005-07-28 | Daimlerchrysler Ag | Verfahren zur Erkennung kritischer Fahrsituationen eines Fahrzeugs |
DE102004008602A1 (de) * | 2004-02-21 | 2005-09-08 | Conti Temic Microelectronic Gmbh | Verfahren und Vorrichtung zum Auslösen eines Insassenschutzsystems eines Fahrzeugs |
DE102004029064B3 (de) | 2004-06-16 | 2006-03-30 | Siemens Ag | Verfahren und Vorrichtung zum Erkennen einer Überschlagssituation bei einem Kraftfahrzeug |
DE102004038000A1 (de) * | 2004-08-04 | 2006-03-16 | Conti Temic Microelectronic Gmbh | Verfahren zur Bestimmung des Neigungswinkels eines Fahrzeuges und Verwendung desselben für die Erzeugung eines Auslösesignales für eine Sicherheitseinrichtung bei einem Überrollvorgang |
JPWO2007020702A1 (ja) * | 2005-08-18 | 2009-02-19 | 株式会社シーアンドエヌ | センサ装置 |
JP4983132B2 (ja) * | 2006-07-26 | 2012-07-25 | 株式会社デンソー | 車両の方向特定方法,および,車両方向特定装置。 |
DE102006036818A1 (de) * | 2006-08-07 | 2008-02-14 | Siemens Ag | Verfahren und Vorrichtung zum Ermitteln einer Orientierung eines Kraftfahrzeugs |
KR100834723B1 (ko) * | 2007-05-14 | 2008-06-05 | 팅크웨어(주) | 센서를 이용한 수직적 주행상태 판단 방법 및 장치 |
JP2009002744A (ja) * | 2007-06-20 | 2009-01-08 | Murata Mach Ltd | 傾斜計 |
US7463953B1 (en) | 2007-06-22 | 2008-12-09 | Volkswagen Ag | Method for determining a tilt angle of a vehicle |
DE102008042006B4 (de) | 2008-09-12 | 2019-06-06 | Robert Bosch Gmbh | Verfahren und Steuergerät zur Aktivierung zumindest eines Sicherheitsmittels eines Fahrzeugs |
JP6094026B2 (ja) * | 2011-03-02 | 2017-03-15 | セイコーエプソン株式会社 | 姿勢判定方法、位置算出方法及び姿勢判定装置 |
WO2015200846A2 (en) | 2014-06-26 | 2015-12-30 | Lumedyne Technologies Incorporated | Systems and methods for extracting system parameters from nonlinear periodic signals from sensors |
TWI676029B (zh) | 2015-05-20 | 2019-11-01 | 美商路梅戴尼科技公司 | 用於決定慣性參數之方法及系統 |
DE102016103659A1 (de) * | 2016-03-01 | 2017-09-07 | Prüftechnik Dieter Busch AG | Vorrichtung und Verfahren zur Bestimmung einer räumlichen Orientierung |
US10234477B2 (en) | 2016-07-27 | 2019-03-19 | Google Llc | Composite vibratory in-plane accelerometer |
FR3063959B1 (fr) * | 2017-03-20 | 2021-05-21 | Valeo Comfort & Driving Assistance | Dispositif de detection de basculement d'un vehicule et procede associe |
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EP0430813A1 (de) * | 1989-12-01 | 1991-06-05 | Regie Nationale Des Usines Renault S.A. | Sicherheitsvorrichtung für Kraftfahrzeuge |
EP0709256A1 (de) * | 1994-10-31 | 1996-05-01 | Daewoo Electronics Co., Ltd | Verfahren zum Erfassen einer Kollision mittels dreier gerichteter Beschleunigungssignale und Vorrichtung zur Ausführung des Verfahrens |
EP0709257A1 (de) * | 1994-10-31 | 1996-05-01 | Daewoo Electronics Co., Ltd | Verfahren und Steuerungsvorrichtung für das Entfalten des Airbags eines Kraftfahrzeugs |
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DE19609717A1 (de) | 1996-03-13 | 1997-09-18 | Bosch Gmbh Robert | Anordnung zum Erkennen von Überrollvorgängen bei Fahrzeugen |
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US6002975A (en) * | 1998-02-06 | 1999-12-14 | Delco Electronics Corporation | Vehicle rollover sensing |
US6076028A (en) * | 1998-09-29 | 2000-06-13 | Veridian Engineering, Inc. | Method and apparatus for automatic vehicle event detection, characterization and reporting |
US6170594B1 (en) * | 1999-06-01 | 2001-01-09 | Micky G. Gilbert | Method and apparatus for reducing vehicle rollover |
-
1997
- 1997-07-25 DE DE19732081A patent/DE19732081A1/de not_active Withdrawn
-
1998
- 1998-03-13 WO PCT/DE1998/000739 patent/WO1999005004A1/de active IP Right Grant
- 1998-03-13 US US09/147,905 patent/US6259999B1/en not_active Expired - Fee Related
- 1998-03-13 DE DE59803186T patent/DE59803186D1/de not_active Expired - Fee Related
- 1998-03-13 EP EP98923999A patent/EP0928258B1/de not_active Expired - Lifetime
- 1998-03-13 JP JP11509147A patent/JP2001501315A/ja not_active Withdrawn
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EP0430813A1 (de) * | 1989-12-01 | 1991-06-05 | Regie Nationale Des Usines Renault S.A. | Sicherheitsvorrichtung für Kraftfahrzeuge |
EP0709256A1 (de) * | 1994-10-31 | 1996-05-01 | Daewoo Electronics Co., Ltd | Verfahren zum Erfassen einer Kollision mittels dreier gerichteter Beschleunigungssignale und Vorrichtung zur Ausführung des Verfahrens |
EP0709257A1 (de) * | 1994-10-31 | 1996-05-01 | Daewoo Electronics Co., Ltd | Verfahren und Steuerungsvorrichtung für das Entfalten des Airbags eines Kraftfahrzeugs |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2357148A (en) * | 1999-12-07 | 2001-06-13 | Rover Group | Determining a spatial position using an array of single axis transducers |
EP1114755A2 (de) * | 2000-01-08 | 2001-07-11 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Kalibrierung eines Überrollsensors |
EP1114755A3 (de) * | 2000-01-08 | 2002-07-03 | Bayerische Motoren Werke Aktiengesellschaft | Verfahren zur Kalibrierung eines Überrollsensors |
US6691549B2 (en) | 2000-01-08 | 2004-02-17 | Bayerische Motoren Werke Aktiengesellschaft | Method of calibrating a rollover sensor |
WO2003064216A1 (de) * | 2002-02-01 | 2003-08-07 | Robert Bosch Gmbh | Vorrichtung zur überrollerkennung |
US7260460B2 (en) | 2002-02-01 | 2007-08-21 | Robert Bosch Gmbh | Device for identifying the risk of a rollover |
Also Published As
Publication number | Publication date |
---|---|
JP2001501315A (ja) | 2001-01-30 |
EP0928258A1 (de) | 1999-07-14 |
DE59803186D1 (de) | 2002-04-04 |
US6259999B1 (en) | 2001-07-10 |
DE19732081A1 (de) | 1999-01-28 |
EP0928258B1 (de) | 2002-02-27 |
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